It's a far more ideal - and comfortable - position. Obadiah approves.

He rests his arms around Sherlock's waist, mainly because it's the best place to put them. He doesn't clutch at Sherlock the way he had with Tony, because that's not what this is about.

(Because Sherlock doesn't have the same effect on him.)

He just arranges himself, as Sherlock did, into the most useful and least awkward position, and continues to kiss Sherlock without missing a beat.